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<li class="navelem"><a class="el" href="dir_df511e5bd85cec96854b39d5e1c27aa8.html">cpp</a></li><li class="navelem"><a class="el" href="dir_bf0f0c8865c1942e08ab5157e2c596db.html">collision</a></li><li class="navelem"><a class="el" href="dir_0695118b3b27d100933d16472a5a2e05.html">include</a></li><li class="navelem"><a class="el" href="dir_d28884e0e9991dd74831dd1628ef4f1a.html">collision</a></li><li class="navelem"><a class="el" href="dir_e6ad0a15879717e90bb3edf6e9f68e2c.html">narrowphase</a></li>  </ul>
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<div class="title">rectangle_obb.h</div>  </div>
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<a href="rectangle__obb_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef RECTANGLE_OBB_H_</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define RECTANGLE_OBB_H_</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;exception&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="shape_8h.html">collision/narrowphase/shape.h</a>&quot;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="line__segment_8h.html">collision/line_segment.h</a>&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html">   16</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a> : <span class="keyword">public</span> <a class="code" href="classcollision_1_1_shape.html">Shape</a> {</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#a2c91a204b73722daddb227ba9ad062dd">   21</a></span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a2c91a204b73722daddb227ba9ad062dd">set_up_segments</a>(<span class="keywordtype">void</span>) {</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    Eigen::Vector2d _v1 =</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;        <a class="code" href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">center</a>() - <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a357c27f00803a8d358a24ebea1fff74b">r_x</a>() * <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a5cfea2e440f65accfb67cd78e724a24f">local_x_axis</a>() - <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#ae767114da43f038e805f6bd6aada716b">r_y</a>() * <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a2330ee7b137e45dec9549d3d2e13dd03">local_y_axis</a>();</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    Eigen::Vector2d _v2 =</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;        <a class="code" href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">center</a>() + <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a357c27f00803a8d358a24ebea1fff74b">r_x</a>() * <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a5cfea2e440f65accfb67cd78e724a24f">local_x_axis</a>() - <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#ae767114da43f038e805f6bd6aada716b">r_y</a>() * <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a2330ee7b137e45dec9549d3d2e13dd03">local_y_axis</a>();</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    Eigen::Vector2d _v3 =</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;        <a class="code" href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">center</a>() + <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a357c27f00803a8d358a24ebea1fff74b">r_x</a>() * <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a5cfea2e440f65accfb67cd78e724a24f">local_x_axis</a>() + <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#ae767114da43f038e805f6bd6aada716b">r_y</a>() * <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a2330ee7b137e45dec9549d3d2e13dd03">local_y_axis</a>();</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    Eigen::Vector2d _v4 =</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;        <a class="code" href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">center</a>() - <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a357c27f00803a8d358a24ebea1fff74b">r_x</a>() * <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a5cfea2e440f65accfb67cd78e724a24f">local_x_axis</a>() + <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#ae767114da43f038e805f6bd6aada716b">r_y</a>() * <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a2330ee7b137e45dec9549d3d2e13dd03">local_y_axis</a>();</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a19db3ff83faa7e816a34f95a0e96041d">segments_</a>.push_back(<a class="code" href="classcollision_1_1_line_segment.html">LineSegment</a>(_v1, _v2));</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a19db3ff83faa7e816a34f95a0e96041d">segments_</a>.push_back(<a class="code" href="classcollision_1_1_line_segment.html">LineSegment</a>(_v2, _v3));</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a19db3ff83faa7e816a34f95a0e96041d">segments_</a>.push_back(<a class="code" href="classcollision_1_1_line_segment.html">LineSegment</a>(_v3, _v4));</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a19db3ff83faa7e816a34f95a0e96041d">segments_</a>.push_back(<a class="code" href="classcollision_1_1_line_segment.html">LineSegment</a>(_v4, _v1));</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  }</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#a55b9c562ee0e3eb46556192e445bed2b">   37</a></span>&#160;  <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a55b9c562ee0e3eb46556192e445bed2b">RectangleOBB</a>(<span class="keywordtype">double</span> _r_x, <span class="keywordtype">double</span> _r_y, Eigen::Matrix2d _local_axes,</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;               <span class="keyword">const</span> Eigen::Vector2d &amp;_center = Eigen::Vector2d(0, 0))</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      : <a class="code" href="classcollision_1_1_shape.html">Shape</a>(_center), <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a67cc523022bbc10c1ab236f5698058e5">local_axes_</a>(_local_axes), <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a306345177177a000bc480b3867e8113a">r_</a>(_r_x, _r_y) {</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a2c91a204b73722daddb227ba9ad062dd">set_up_segments</a>();</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  }</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#ae7875c6a9e400c58d58c2d210029270b">   44</a></span>&#160;  <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#ae7875c6a9e400c58d58c2d210029270b">RectangleOBB</a>(<span class="keywordtype">double</span> _r_x, <span class="keywordtype">double</span> _r_y, <span class="keywordtype">double</span> angle,</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;               <span class="keyword">const</span> Eigen::Vector2d &amp;_center = Eigen::Vector2d(0, 0))</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;      : <a class="code" href="classcollision_1_1_shape.html">Shape</a>(_center), <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a306345177177a000bc480b3867e8113a">r_</a>(_r_x, _r_y) {</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a67cc523022bbc10c1ab236f5698058e5">local_axes_</a> &lt;&lt; cos(angle), -sin(angle), sin(angle), cos(angle);</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a2c91a204b73722daddb227ba9ad062dd">set_up_segments</a>();</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  }</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#a57db74397a9155f78d92fd8d8f6d2908">   52</a></span>&#160;  <span class="keyword">virtual</span> <a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149">CollisionObjectType</a> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a57db74397a9155f78d92fd8d8f6d2908">getCollisionObjectType</a>()<span class="keyword"> const </span>{</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149ad8e57227114a34d492946ad9eb41fa30">CollisionObjectType::OBJ_TYPE_OBB_BOX</a>;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  }</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a2ddf46a0414316e34c8d1d28726bfb91">rayTrace</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;point1, <span class="keyword">const</span> Eigen::Vector2d &amp;point2,</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;                std::vector&lt;LineSegment&gt; &amp;intersect) <span class="keyword">const override</span>;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#a05afea8c0cadae1b91ba82c7c0b5186b">   59</a></span>&#160;  <span class="keyword">virtual</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a05afea8c0cadae1b91ba82c7c0b5186b">~RectangleOBB</a>() {}</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="preprocessor">#if ENABLE_SERIALIZER</span></div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <a class="code" href="classcollision_1_1serialize_1_1_i_collision_object_export.html">serialize::ICollisionObjectExport</a> *exportThis(<span class="keywordtype">void</span>) <span class="keyword">const override</span>;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a55b9c562ee0e3eb46556192e445bed2b">RectangleOBB</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a> &amp;copy);</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keyword">virtual</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a> *<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#aedc9a67415d132222cc2a3035b7ff30c">clone</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a95730f2c860668929a2a1b50a128ba9d">print</a>(std::ostringstream &amp;stream) <span class="keyword">const</span>;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <a class="code" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry&lt;FCL_PRECISION&gt;</a> *</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a3b3854d1ce60d7d9f48955f50f371ecd">createFCLCollisionGeometry</a>(<span class="keywordtype">void</span>) <span class="keyword">const override</span>;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a1f3b229ecf1b4ac48e7d42ddba508a48">createFCLCollisionObject</a>(</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">const</span> std::shared_ptr&lt;<a class="code" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry&lt;FCL_PRECISION&gt;</a>&gt; &amp;)</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">const override</span>;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a086a8835723ac7259881e1d7b9591d6d">type</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  Eigen::Matrix2d <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a62c69f93584a09fcc31eeccb1f2a112e">local_axes</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  Eigen::Vector2d <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a5cfea2e440f65accfb67cd78e724a24f">local_x_axis</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  Eigen::Vector2d <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a2330ee7b137e45dec9549d3d2e13dd03">local_y_axis</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  Eigen::Vector2d <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#aa04315b4bc2bc28d1ced5223a06160d7">r</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#aa04315b4bc2bc28d1ced5223a06160d7">r</a>(<span class="keywordtype">int</span> i) <span class="keyword">const</span>;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a357c27f00803a8d358a24ebea1fff74b">r_x</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#ae767114da43f038e805f6bd6aada716b">r_y</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#ab0b008668e465f6749c032b07e1f2bc8">set_local_x_axis</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;x_axis);</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a2b5dca59c8add0c53926a42a913ea9fb">set_local_y_axis</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;y_axis);</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a2730304a6cc511eaeae9d1f37b378155">set_r_x</a>(<span class="keywordtype">double</span> _r_x);</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#abe7c0bcc2941ee9bd12a1b5830c9985e">set_r_y</a>(<span class="keywordtype">double</span> _r_y);</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="comment">//</span></div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="comment">// @brief Computes the square distance between a point and</span></div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="comment">//        the rectangle boundary. From:</span></div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="comment">//        C. Ericson, Real-Time Collision Detection, pp. 134, 2004</span></div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="comment">// @param p Point</span></div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="comment">//</span></div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#ac0eaf867fc267e1b3fcf33cb1a9fc1d2">squareDisToPoint</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;p) <span class="keyword">const</span>;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#a59a86900106365857ad6df33f72540c1">   99</a></span>&#160;  std::vector&lt;LineSegment&gt; <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a59a86900106365857ad6df33f72540c1">segments</a>(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a19db3ff83faa7e816a34f95a0e96041d">segments_</a>; };</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="keyword">using</span> <a class="code" href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">Shape::center_</a>;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="keyword">using</span> <a class="code" href="classcollision_1_1_shape.html#ab453849fed42ee9769df87210ca5262d">Shape::radius_</a>;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="comment">// Local x- and y-axis (column vectors)</span></div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="comment">//               | x_1  x_2 |</span></div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="comment">//  local_axis = |          |</span></div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="comment">//               | y_1  y_2 |</span></div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="comment">//</span></div><div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#a67cc523022bbc10c1ab236f5698058e5">  110</a></span>&#160;  Eigen::Matrix2d <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a67cc523022bbc10c1ab236f5698058e5">local_axes_</a>;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div><div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#a19db3ff83faa7e816a34f95a0e96041d">  112</a></span>&#160;  std::vector&lt;LineSegment&gt; <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a19db3ff83faa7e816a34f95a0e96041d">segments_</a>;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;</div><div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#a306345177177a000bc480b3867e8113a">  115</a></span>&#160;  Eigen::Vector2d <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a306345177177a000bc480b3867e8113a">r_</a>;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#a0dab84cbeaa143014b0b84557c6cfa1a">  117</a></span>&#160;  <span class="keyword">static</span> constexpr <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a0dab84cbeaa143014b0b84557c6cfa1a">type_</a> = <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a45283ddf1b79bad61b43fbed57016185">TYPE_RECTANGLE_OBB</a>;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;};</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;} <span class="comment">// namespace collision</span></div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a2330ee7b137e45dec9549d3d2e13dd03"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a2330ee7b137e45dec9549d3d2e13dd03">collision::RectangleOBB::local_y_axis</a></div><div class="ttdeci">Eigen::Vector2d local_y_axis() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00067">rectangle_obb.cc:67</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_ab0b008668e465f6749c032b07e1f2bc8"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#ab0b008668e465f6749c032b07e1f2bc8">collision::RectangleOBB::set_local_x_axis</a></div><div class="ttdeci">void set_local_x_axis(const Eigen::Vector2d &amp;x_axis)</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00088">rectangle_obb.cc:88</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a086a8835723ac7259881e1d7b9591d6d"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a086a8835723ac7259881e1d7b9591d6d">collision::RectangleOBB::type</a></div><div class="ttdeci">ShapeType type() const</div><div class="ttdoc">Get shape type.</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00051">rectangle_obb.cc:51</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html">collision::RectangleOBB</a></div><div class="ttdoc">Oriented rectangle.</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8h_source.html#l00016">rectangle_obb.h:16</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_ab453849fed42ee9769df87210ca5262d"><div class="ttname"><a href="classcollision_1_1_shape.html#ab453849fed42ee9769df87210ca5262d">collision::Shape::radius_</a></div><div class="ttdeci">double radius_</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00072">shape.h:72</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a1f3b229ecf1b4ac48e7d42ddba508a48"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a1f3b229ecf1b4ac48e7d42ddba508a48">collision::RectangleOBB::createFCLCollisionObject</a></div><div class="ttdeci">fcl::CollisionObject&lt; FCL_PRECISION &gt; * createFCLCollisionObject(const std::shared_ptr&lt; fcl::CollisionGeometry&lt; FCL_PRECISION &gt;&gt; &amp;) const override</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00016">rectangle_obb.cc:16</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a67cc523022bbc10c1ab236f5698058e5"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a67cc523022bbc10c1ab236f5698058e5">collision::RectangleOBB::local_axes_</a></div><div class="ttdeci">Eigen::Matrix2d local_axes_</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8h_source.html#l00110">rectangle_obb.h:110</a></div></div>
<div class="ttc" id="namespacecollision_html_a450ba6ce42e02aa75e1a94fcbddae149"><div class="ttname"><a href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149">collision::CollisionObjectType</a></div><div class="ttdeci">CollisionObjectType</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00016">collision_object_types.h:16</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_ac0eaf867fc267e1b3fcf33cb1a9fc1d2"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#ac0eaf867fc267e1b3fcf33cb1a9fc1d2">collision::RectangleOBB::squareDisToPoint</a></div><div class="ttdeci">double squareDisToPoint(const Eigen::Vector2d &amp;p) const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00108">rectangle_obb.cc:108</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_ae7875c6a9e400c58d58c2d210029270b"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#ae7875c6a9e400c58d58c2d210029270b">collision::RectangleOBB::RectangleOBB</a></div><div class="ttdeci">RectangleOBB(double _r_x, double _r_y, double angle, const Eigen::Vector2d &amp;_center=Eigen::Vector2d(0, 0))</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8h_source.html#l00044">rectangle_obb.h:44</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a2c91a204b73722daddb227ba9ad062dd"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a2c91a204b73722daddb227ba9ad062dd">collision::RectangleOBB::set_up_segments</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW void set_up_segments(void)</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8h_source.html#l00021">rectangle_obb.h:21</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_object_html"><div class="ttname"><a href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt; FCL_PRECISION &gt;</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a19db3ff83faa7e816a34f95a0e96041d"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a19db3ff83faa7e816a34f95a0e96041d">collision::RectangleOBB::segments_</a></div><div class="ttdeci">std::vector&lt; LineSegment &gt; segments_</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8h_source.html#l00112">rectangle_obb.h:112</a></div></div>
<div class="ttc" id="line__segment_8h_html"><div class="ttname"><a href="line__segment_8h.html">line_segment.h</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_geometry_html"><div class="ttname"><a href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry</a></div><div class="ttdef"><b>Definition:</b> <a href="i__fcl__collision__object_8h_source.html#l00010">i_fcl_collision_object.h:10</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_ae767114da43f038e805f6bd6aada716b"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#ae767114da43f038e805f6bd6aada716b">collision::RectangleOBB::r_y</a></div><div class="ttdeci">double r_y() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00086">rectangle_obb.cc:86</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a3b3854d1ce60d7d9f48955f50f371ecd"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a3b3854d1ce60d7d9f48955f50f371ecd">collision::RectangleOBB::createFCLCollisionGeometry</a></div><div class="ttdeci">fcl::CollisionGeometry&lt; FCL_PRECISION &gt; * createFCLCollisionGeometry(void) const override</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00013">rectangle_obb.cc:13</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_abe7c0bcc2941ee9bd12a1b5830c9985e"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#abe7c0bcc2941ee9bd12a1b5830c9985e">collision::RectangleOBB::set_r_y</a></div><div class="ttdeci">void set_r_y(double _r_y)</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00103">rectangle_obb.cc:103</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1b9e0627f58ff6e988d3d1f3b3537a3a45283ddf1b79bad61b43fbed57016185"><div class="ttname"><a href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a45283ddf1b79bad61b43fbed57016185">collision::TYPE_RECTANGLE_OBB</a></div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00015">shape.h:15</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a357c27f00803a8d358a24ebea1fff74b"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a357c27f00803a8d358a24ebea1fff74b">collision::RectangleOBB::r_x</a></div><div class="ttdeci">double r_x() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00084">rectangle_obb.cc:84</a></div></div>
<div class="ttc" id="namespacecollision_html_a450ba6ce42e02aa75e1a94fcbddae149ad8e57227114a34d492946ad9eb41fa30"><div class="ttname"><a href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149ad8e57227114a34d492946ad9eb41fa30">collision::OBJ_TYPE_OBB_BOX</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00019">collision_object_types.h:19</a></div></div>
<div class="ttc" id="classcollision_1_1serialize_1_1_i_collision_object_export_html"><div class="ttname"><a href="classcollision_1_1serialize_1_1_i_collision_object_export.html">collision::serialize::ICollisionObjectExport</a></div><div class="ttdef"><b>Definition:</b> <a href="i__collision__object__export_8h_source.html#l00008">i_collision_object_export.h:8</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a57db74397a9155f78d92fd8d8f6d2908"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a57db74397a9155f78d92fd8d8f6d2908">collision::RectangleOBB::getCollisionObjectType</a></div><div class="ttdeci">virtual CollisionObjectType getCollisionObjectType() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8h_source.html#l00052">rectangle_obb.h:52</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_aa04315b4bc2bc28d1ced5223a06160d7"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#aa04315b4bc2bc28d1ced5223a06160d7">collision::RectangleOBB::r</a></div><div class="ttdeci">Eigen::Vector2d r() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00071">rectangle_obb.cc:71</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a2b5dca59c8add0c53926a42a913ea9fb"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a2b5dca59c8add0c53926a42a913ea9fb">collision::RectangleOBB::set_local_y_axis</a></div><div class="ttdeci">void set_local_y_axis(const Eigen::Vector2d &amp;y_axis)</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00093">rectangle_obb.cc:93</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a0dab84cbeaa143014b0b84557c6cfa1a"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a0dab84cbeaa143014b0b84557c6cfa1a">collision::RectangleOBB::type_</a></div><div class="ttdeci">static constexpr ShapeType type_</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8h_source.html#l00117">rectangle_obb.h:117</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1b9e0627f58ff6e988d3d1f3b3537a3"><div class="ttname"><a href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">collision::ShapeType</a></div><div class="ttdeci">ShapeType</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00012">shape.h:12</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a306345177177a000bc480b3867e8113a"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a306345177177a000bc480b3867e8113a">collision::RectangleOBB::r_</a></div><div class="ttdeci">Eigen::Vector2d r_</div><div class="ttdoc">Positive halfwidth extents of OBB along each axis.</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8h_source.html#l00115">rectangle_obb.h:115</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a05afea8c0cadae1b91ba82c7c0b5186b"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a05afea8c0cadae1b91ba82c7c0b5186b">collision::RectangleOBB::~RectangleOBB</a></div><div class="ttdeci">virtual ~RectangleOBB()</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8h_source.html#l00059">rectangle_obb.h:59</a></div></div>
<div class="ttc" id="classcollision_1_1_line_segment_html"><div class="ttname"><a href="classcollision_1_1_line_segment.html">collision::LineSegment</a></div><div class="ttdef"><b>Definition:</b> <a href="line__segment_8h_source.html#l00019">line_segment.h:19</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a2730304a6cc511eaeae9d1f37b378155"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a2730304a6cc511eaeae9d1f37b378155">collision::RectangleOBB::set_r_x</a></div><div class="ttdeci">void set_r_x(double _r_x)</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00098">rectangle_obb.cc:98</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html"><div class="ttname"><a href="classcollision_1_1_shape.html">collision::Shape</a></div><div class="ttdoc">Base prototype for the shape of an obstacle.</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00024">shape.h:24</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_aedc9a67415d132222cc2a3035b7ff30c"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#aedc9a67415d132222cc2a3035b7ff30c">collision::RectangleOBB::clone</a></div><div class="ttdeci">virtual RectangleOBB * clone() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00041">rectangle_obb.cc:41</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a95730f2c860668929a2a1b50a128ba9d"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a95730f2c860668929a2a1b50a128ba9d">collision::RectangleOBB::print</a></div><div class="ttdeci">void print(std::ostringstream &amp;stream) const</div><div class="ttdoc">Print all parameters of the shape.</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00053">rectangle_obb.cc:53</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a55b9c562ee0e3eb46556192e445bed2b"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a55b9c562ee0e3eb46556192e445bed2b">collision::RectangleOBB::RectangleOBB</a></div><div class="ttdeci">RectangleOBB(double _r_x, double _r_y, Eigen::Matrix2d _local_axes, const Eigen::Vector2d &amp;_center=Eigen::Vector2d(0, 0))</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8h_source.html#l00037">rectangle_obb.h:37</a></div></div>
<div class="ttc" id="shape_8h_html"><div class="ttname"><a href="shape_8h.html">shape.h</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a59a86900106365857ad6df33f72540c1"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a59a86900106365857ad6df33f72540c1">collision::RectangleOBB::segments</a></div><div class="ttdeci">std::vector&lt; LineSegment &gt; segments(void) const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8h_source.html#l00099">rectangle_obb.h:99</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a5cfea2e440f65accfb67cd78e724a24f"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a5cfea2e440f65accfb67cd78e724a24f">collision::RectangleOBB::local_x_axis</a></div><div class="ttdeci">Eigen::Vector2d local_x_axis() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00063">rectangle_obb.cc:63</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_a3a397b619573e160d18954605a11f7bd"><div class="ttname"><a href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">collision::Shape::center_</a></div><div class="ttdeci">Eigen::Vector2d center_</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00071">shape.h:71</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a62c69f93584a09fcc31eeccb1f2a112e"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a62c69f93584a09fcc31eeccb1f2a112e">collision::RectangleOBB::local_axes</a></div><div class="ttdeci">Eigen::Matrix2d local_axes() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00061">rectangle_obb.cc:61</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_aca9a2f6e0de0822e241e39dad9c419ce"><div class="ttname"><a href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">collision::Shape::center</a></div><div class="ttdeci">Eigen::Vector2d center() const</div><div class="ttdoc">Get geometric center of shape.</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00016">shape.cc:16</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a2ddf46a0414316e34c8d1d28726bfb91"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a2ddf46a0414316e34c8d1d28726bfb91">collision::RectangleOBB::rayTrace</a></div><div class="ttdeci">bool rayTrace(const Eigen::Vector2d &amp;point1, const Eigen::Vector2d &amp;point2, std::vector&lt; LineSegment &gt; &amp;intersect) const override</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00025">rectangle_obb.cc:25</a></div></div>
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